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Various hypotheses exist about the paths used for communication between the nodes of complex networks. Most studies simply suppose that communication goes via shortest paths, while others have more explicit assumptions about how routing…
Cognitive maps play a crucial role in facilitating flexible behaviour by representing spatial and conceptual relationships within an environment. The ability to learn and infer the underlying structure of the environment is crucial for…
Cognitive maps play a crucial role in facilitating flexible behaviour by representing spatial and conceptual relationships within an environment. The ability to learn and infer the underlying structure of the environment is crucial for…
In this work, we present a hierarchical framework designed to support robotic inspection under environment uncertainty. By leveraging a known environment model, existing methods plan and safely track inspection routes to visit points of…
Collective systems that self-organise to maximise the group's ability to collect and distribute information can be successful in environments with high spatial and temporal variation. Such organisations are abundant in nature, as sharing…
Understanding how built environments shape human experience is central to designing sustainable cities. Cycling provides a critical case: it delivers health and environmental benefits, yet its uptake depends strongly on the experience of…
Sustainable urban design or planning is not a LEGO-like assembly of prefabricated elements, but an embryo-like growth with persistent differentiation and adaptation towards a coherent whole. The coherent whole has a striking character -…
Spatial environmental variation can either amplify or suppress the fixation of beneficial mutants in structured populations, yet the interplay of ecological factors and spatial structure in determining which outcome occurs remains…
Motion generation in cluttered, dense, and dynamic environments is a central topic in robotics, rendered as a multi-objective decision-making problem. Current approaches trade-off between safety and performance. On the one hand, reactive…
Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…
Cooperation is central to the organization of complex biological and social systems. Most theoretical models assume homogeneous environments; in reality, populations inhabit spatially varying landscapes in which the payoffs of cooperation…
In environments with scarce resources, adopting the right search strategy can make the difference between succeeding and failing, even between life and death. At different scales, this applies to molecular encounters in the cell cytoplasm,…
We present a hierarchical skeleton-guided motion planning algorithm to guide mobile robots. A good skeleton maps the connectivity of the subspace of c-space containing significant degrees of freedom and is able to guide the planner to find…
The modeling of disaggregated vehicular mobility and its associations with the ambient urban built environment is essential for developing operative transport intervention and urban optimization plans. However, established vehicular route…
We explore how different types and uses of memory can aid spatial navigation in changing uncertain environments. In the simple foraging task we study, every day, our agent has to find its way from its home, through barriers, to food.…
Robust evidence suggests that humans explore their environment using a combination of topological landmarks and coarse-grained path integration. This approach relies on identifiable environmental features (topological landmarks) in tandem…
This paper investigates the usefulness of reasoning about the uncertain presence of obstacles during path planning, which typically stems from the usage of probabilistic occupancy grid maps for representing the environment when mapping via…
Traditional approaches to the design of multi-agent navigation algorithms consider the environment as a fixed constraint, despite the obvious influence of spatial constraints on agents' performance. Yet hand-designing improved environment…
Traditional approaches to the design of multi-agent navigation algorithms consider the environment as a fixed constraint, despite the influence of spatial constraints on agents' performance. Yet hand-designing conducive environment layouts…
How are people able to plan so efficiently despite limited cognitive resources? We aimed to answer this question by extending an existing model of human task decomposition that can explain a wide range of simple planning problems by adding…